TY - GEN
T1 - Towards robot-assisted vitreoretinal surgery
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
AU - Gonenc, Berk
AU - Feldman, Ellen
AU - Gehlbach, P.
AU - Handa, James
AU - Taylor, Russell H.
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In vitreoretinal practice, controlled tremor-free motion and limitation of applied forces to the retina are two highly desired features. This study addresses both requirements with a new integrated system: A force-sensing motorized micro-forceps combined with an active tremor-canceling handheld micromanipulator, known as Micron. The micro-forceps is a 20 Ga instrument that is mechanically decoupled from its handle and senses the transverse forces at its tip with an accuracy of 0.3 mN. Membrane peeling trials on a bandage phantom revealed a 60-95% reduction in the 2-20 Hz band in both the tip force and position spectra, while peeling forces remained below the set safety threshold.
AB - In vitreoretinal practice, controlled tremor-free motion and limitation of applied forces to the retina are two highly desired features. This study addresses both requirements with a new integrated system: A force-sensing motorized micro-forceps combined with an active tremor-canceling handheld micromanipulator, known as Micron. The micro-forceps is a 20 Ga instrument that is mechanically decoupled from its handle and senses the transverse forces at its tip with an accuracy of 0.3 mN. Membrane peeling trials on a bandage phantom revealed a 60-95% reduction in the 2-20 Hz band in both the tip force and position spectra, while peeling forces remained below the set safety threshold.
UR - http://www.scopus.com/inward/record.url?scp=84929207706&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929207706&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907035
DO - 10.1109/ICRA.2014.6907035
M3 - Conference contribution
AN - SCOPUS:84929207706
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1399
EP - 1404
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 31 May 2014 through 7 June 2014
ER -